Kollmorgen S400 Original Manual

Brand: Kollmorgen

Model: S400

Type: Original Manual

This manual is also suitable for

PROFIBUS DP

Fieldbus Interface for S300 / S400 / S600 / S700

Datei srprof_e.***

Edition 04/2017

Translation of the original manual

Keep the manual as a product component

during the life span of the product.

Pass the manual to future users / owners

of the product.

Previous editions

Edition Comments

05 / 1999 Preliminary version

10 / 1999 First edition

06 / 2002 new layout, several corrections, valid from firmware 3.54

11 / 2005 Valid for the S300/S400/S600 series, several corrections, company name changed, front- and back-page new design

12 / 2005 Language improvements in the english version

09 / 2006 New Design

08 / 2007 Branding, S700 new, Symbols, Standards

12 / 2008 Several corrections, PNU1785 expanded

07 / 2009 Product branding

12 / 2009 Several minor corrections, Symbols according to ANSI Z535

12 / 2010 Company name new

07 / 2014 Warning notes updates, design cover page

04 / 2016 Safe voltage changed to 50V, warning symbols updated, european directives updated

04 / 2017 Use as directed updated, hints for PDF usage new, PNU930 "-7" Servo Pump new, opmode -7 new

SINEC is a registered trademark of Siemens AG

Technical changes to improve the performance of the equipment may be made without prior notice!

or stored, processed, copied or distributed by electronic means, without the written permission of Kollmorgen Europe

GmbH.

1 General

1.1 About this manual ....................................................................... 5

1.2 Target group ........................................................................... 5

1.3 Hints for the online edition (PDF format) ...................................................... 6

1.4 Use as directed ......................................................................... 6

1.5 Symbols used in this manual ............................................................... 6

1.6 Abbreviations used in this manual ........................................................... 7

2 Installation / Setup

2.1 Installation ............................................................................. 9

2.1.1 Safety notes....................................................................... 9

2.1.2 Inserting the expansion card (S300, S600 and S700) ...................................... 10

2.1.2.1 Front view .................................................................... 10

2.1.2.2 Setup of Station Address and Baud Rate ............................................ 10

2.1.2.3 Connection technology .......................................................... 10

2.1.2.4 Connection diagram ............................................................ 11

2.1.3 Profibus master module setup ........................................................ 12

2.1.3.1 Configuration of the master controller ( e.g. Siemens S7)................................12

2.1.4 Standard function block for date exchange with the servo amplifier............................13

2.2 Amplifier setup ......................................................................... 13

2.2.1 Guide to setup .................................................................... 13

2.2.2 Important amplifier configuration parameters............................................. 14

2.2.3 Setup Software ................................................................... 15

2.2.3.1 Screen page PROFIBUS......................................................... 15

2.2.3.2 Screen page PROFIBUS instrument control .......................................... 16

3 Device Profile

3.1 Parameter channel...................................................................... 18

3.1.1 Parameter ID (PKE) ................................................................ 18

3.1.1.1 Interpretation of the response IDs .................................................. 18

3.1.1.2 Response ID 7: Profile specific error numbers ........................................ 19

3.1.2 Index IND........................................................................ 19

3.1.3 Parameter value PWE .............................................................. 20

3.2 The process data channel (PZD) ........................................................... 20

4 Parameter channel (PKW)

4.1 Read/write an amplifier parameter .......................................................... 21

4.2 Summary of the parameter numbers ........................................................ 21

4.2.1 List of the parameters .............................................................. 22

4.2.2 Standard PROFIDRIVE parameters ................................................... 24

4.2.2.1 PNU 940/911: PPO type write/read................................................. 24

4.2.2.2 PNU 918: PROFIBUS node address................................................ 24

4.2.2.3 PNU 963: baud rate............................................................. 24

4.2.2.4 PNU 965: PROFIDRIVE profile number ............................................. 24

4.2.2.5 PNU 970: default parameters ..................................................... 24

4.2.2.6 PNU 971: non volatile saving of parameters .......................................... 24

4.2.2.7 PNU 930: Selection Switch for Operating Mode ....................................... 25

4.2.3 Manufacturer specific parameters ..................................................... 26

4.2.3.1 PNU 1000: instrument ID ........................................................ 26

4.2.3.2 PNU 1001: manufacturer specific error register ....................................... 26

4.2.3.3 PNU 1002: manufacturer specific status register ...................................... 27

4.2.4 Position control parameters .......................................................... 28

4.2.4.1 PNU 1894: velocity multiplier...................................................... 28

4.2.4.2 PNU 1807: axis type ............................................................ 28

4.2.5 Position data for the position control mode .............................................. 28

4.2.5.1 PNU 1790: position ............................................................. 28

4.2.5.2 PNU 1791: velocity ............................................................. 28

4.2.5.3 PNU 1785: motion task type ...................................................... 29

4.2.5.4 PNU 1783: acceleration time...................................................... 29

4.2.5.5 PNU 1784: acceleration jolt limiting................................................. 30

4.2.5.6 PNU 1786: deceleration time ..................................................... 30

PROFIBUS for S300/S400/S600/S700 3

Kollmorgen 04/2017 Contents

page

4.2.5.7 PNU 1787: deceleration jolt limiting................................................. 30

4.2.5.8 PNU 1788: next motion task ...................................................... 30

4.2.5.9 PNU 1789: start delay ........................................................... 30

4.2.5.10 PNU 1310: copy motion task...................................................... 30

4.2.5.11 PNU 1311: position, 32 bit floating decimal point format................................. 30

4.2.5.12 PNU 1312: velocity, 32 bit floating decimal point format ................................. 30

4.2.6 Setup mode: position ............................................................... 31

4.2.6.1 PNU 1773: homing type ......................................................... 31

4.2.6.2 PNU 1644: homing direction ...................................................... 31

4.2.7 Actual values ..................................................................... 31

4.2.7.1 PNU 1401: speed .............................................................. 31

4.2.7.2 PNU 1402: incremental position, actual value......................................... 31

4.2.7.3 PNU 1800: actual position value in SI (User) units ..................................... 31

4.2.7.4 PNU 1414: actual position, 32 bit floating decimal point format............................31

4.2.7.5 PNU 1415: actual velocity, 32 bit floating decimal point format............................ 32

4.2.8 Digital I/O configuration ............................................................. 32

4.2.8.1 PNUs 1698/1701/1704/1707: digital input configuration ................................. 32

4.2.8.2 PNUs 1775/1778: digital output configuration ......................................... 32

4.2.9 Analog configuration ............................................................... 32

4.2.9.1 PNU 1607: analog input configuration............................................... 32

4.2.9.2 PNU 1613/1614: analog output configuration ......................................... 32

4.2.10 Manufacturer specific object channel (from PNU 1600)..................................... 33

5 Process data channel

5.1 Instrument control ...................................................................... 36

5.1.1 Control word (STW) ................................................................ 38

5.1.2 Status word (ZSW)................................................................. 39

5.2 Operating modes ....................................................................... 39

5.2.1 Positioning (operating mode 2) ....................................................... 40

5.2.2 Digital speed (operating mode 1) ...................................................... 41

5.2.3 Analog speed (operating mode -1)..................................................... 41

5.2.4 Digital torque (operating mode -2) ..................................................... 42

5.2.5 Analog torque (operating mode -3) .................................................... 42

5.2.6 Electronic gearing (operating mode -4) ................................................. 42

5.2.7 Trajectory (operating mode -5) ....................................................... 42

5.2.8 Digital setpoint & Servo Pump (operating mode -7) ........................................ 43

5.2.9 ASCII channel (operating mode -16) ................................................... 43

5.2.10 Operating mode after switch-on (operating mode -126)..................................... 44

6 Appendix

6.1 Example telegrams ..................................................................... 45

6.1.1 Zero telegram (for initialization) ....................................................... 45

6.1.2 Setting the Opmode ................................................................ 45

6.1.3 Enable the servo amplifier ........................................................... 46

6.1.4 Start jog mode (on positioning opmode) ................................................ 46

6.1.5 Set reference point................................................................. 46

6.1.6 Start homing run .................................................................. 47

6.1.7 Start a motion task ................................................................. 49

6.1.8 Start a direct motion task ............................................................ 49

6.1.9 Polling a warning or error message .................................................... 49

6.1.10 Writing a parameter (via parameter channel PKW) ........................................ 50

6.1.11 Reading actual values .............................................................. 50

6.1.12 Write a parameter via the ASCII channel................................................ 51

6.2 Index ................................................................................ 52

4 PROFIBUS for S300/S400/S600/S700

Contents 04/2017 Kollmorgen

page

1 General

1.1 About this manual

This manual describes the wiring, setup, range of functions and software protocol for the

SERVOSTAR 300 (S300), SERVOSTAR 400 (S400), SERVOSTAR 600 ( S600) and S700.

S300

, S600 and S700:

The expansion card -PROFIBUS- offers PROFIBUS compatible connectivity to these servo amplifi

ers. The expansion card and it's mounting is described in the instructions manual.

The expansion card for S300 and S700 is different from the card for S600. The text "PROFIBUS

DP" on the front label marks the card for S300/S700, the text "PROFIBUS" the card for S600.

S400

-PROFIBUS:

PROFIBUS functionality is built-in on delivery.

This manual is part of the complete documentation of the digital servo amplifiers. The installation

and setup of the servo amplifier, as well as all the standard functions, are described in the corre

sponding instructions manuals.

Other parts of the documentation of the digital servo amplifiers:

Title

Publisher

Instructions manual for the Servo Amplifier Kollmorgen

Online-Help with Object Reference Guide Kollmorgen

Further documentation:

Title

Publisher

Installation Guideline for PROFIBUS DP/FMS PNO

Profile for Variable Speed Drives PNO

SINEC Produktinformation S79200-A0737-X-02-7437 Siemens

SINEC Installationsanleitungen S79200-A0737-X-01-7419 Siemens

SINEC Einführung CP5412 (A2) C79000-G8900-C068 Siemens

SINEC DP-Masterbetrieb mit dem COML DP projektieren C79000-G8900-C069 Siemens

SINEC DP-Programmierschnittstelle C79000-G8900-C071 Siemens

1.2 Target group

This manual addresses personnel with the following qualifications:

Transport : only by personnel with knowledge of handling electrostatically sensitive

components.

Unpacking: only by electrically qualified personnel.

Installation : only by electrically qualified personnel.

Setup : only by qualified personnel with extensive knowledge of electrical

engineering and drive technology

Programming: Software developers, project-planners, experienced PLC programmers

with PROFIBUS DP expertise

The qualified personnel must know and observe the following standards:

IEC 60364, IEC 60664, and regional accident prevention regulations.

Qualified Personnel only!

During operation there are deadly hazards, with the possibility of death,

severe injury or material damage.

The user must ensure that the safety instructions in this manual are

followed.

The user must ensure that all personnel responsible for working with

the servo amplifier have read and understood the instructions manual.

Training courses are available on request.

PROFIBUS for S300/S400/S600/S700 5

Kollmorgen 04/2017 General

1.3 Hints for the online edition (PDF format)

Bookmarks:

Table of contents and index are active bookmarks.

Table of contents and index in the text:

The lines are active cross references. Click on the desired line and the appropriate page is indi

cated.

Page/chapter numbers in the text:

Page/chapter numbers with cross references are active. Click at the page/chapter number to reach

the indicated target.

1.4 Use as directed

Please observe the chapter "Use as directed” in the instructions manual for the servo amplifier.

The PROFIBUS interface serves only for the connection of the servo amplifier to a master with

PROFIBUS connectivity.

The servo amplifiers are components that are built into electrical apparatus or machinery, and can

only be setup and operated as integral components of such apparatus or machinery.

We only guarantee the conformity of the servo amplifier with the directives listed in the EU Declara

tion of Conformity, if the components that we specify are used, and the installation regulations are

followed.

1.5 Symbols used in this manual

Symbol Indication

DANGER

Indicates a hazardous situation which, if not avoided, will result in death or se-

rious injury.

WARNING

Indicates a hazardous situation which, if not avoided, could result in death or

serious injury.

CAUTION

Indicates a hazardous situation which, if not avoided, could result in minor or

moderate injury.

This is not a safety symbol. Indicates situations which, if not avoided, could re

sult in property damage.

This is not a safety symbol.

This symbol indicates important notes.

Warning of a danger (general). The type of danger is specified by the warning

text next to it.

Warning of danger from electricity and its effects.

Warning of danger from automatic start.

6 PROFIBUS for S300/S400/S600/S700

General 04/2017 Kollmorgen

1.6 Abbreviations used in this manual

The abbreviations used in this manual are explained in the table below.

Abbrev. Meaning

AGND Analog ground

BTB/RTO Ready to operate

CLK Clock signal

COM Serial interface for a PC-AT

DGND Digital ground

DIN German Institute for industrial Standards

Disk Magnetic storage (diskette, hard disk)

EEPROM Electrically erasable programmable memory

EN European standard

IEC International Electrotechnical Commission

INC Incremental Interface

LED Light-emitting diode

MB Megabyte

NI Zero pulse

NSTOP Limit-switch input for CCW rotation (left)

PZD Process data

PSTOP Limit-switch input for CW rotation (right)

RAM Volatile memory

RES Resolver

ROD A quad B encoder

PLC Programmable logic controller

S300 SERVOSTAR 300

S400 SERVOSTAR 400

S600 SERVOSTAR 600

SSI Synchronous serial interface

VAC AC voltage

VDC DC voltage

PROFIBUS for S300/S400/S600/S700 7

Kollmorgen 04/2017 General

This page has been deliberately left blank.

8 PROFIBUS for S300/S400/S600/S700

General 04/2017 Kollmorgen

2 Installation / Setup

2.1 Installation

2.1.1 Safety notes

WARNING

High Voltages up to 900V!

Risk of electric shock. Residual charges in the capacitors can still have

dangerous levels several minutes after switching off the supply voltage.

Power and control connections can still be live, even though the motor is

not rotating.

Install and wire up the equipment only while it is not electrically con

nected.

Make sure that the control cabinet is safely isolated (lock-out, warning

signs etc.).The individual supply voltages will not be switched on until

setup is carried out.

Measure the voltage in the intermediate (DC-link) circuit and wait until it

has fallen below 50V.

CAUTION

Automatic Start!

Risk of death or serious injury for humans working in the machine. Drives

with servo amplifiers in fieldbus systems are remote-controlled machines

They can start to move at any time without previous warning.

Implement appropriate protective measures to ensure that any unin-

tended start-up of the machines cannot result in dangerous situations

for personnel or machinery.

The user is responsible for ensuring that, in the event of a failure of the

servo amplifier, the drive is set to a state that is functional safe, for in

stance with the aid of a safe mechanical brake.

Software limit-switches are not a substitute for the hardware

limit-switches in the machine.

Install the servo amplifier as described in the instructions manual. The wiring for the analog setpoint

input and the positioning interface is not required.

Because of the internal representation of the position-control parameters, the position controller can

only be operated if the final limit speed of the drive does not exceed:

rotatory

at sinusoidal² commutation: 7500 rpm

at trapezoidal commutation: 12000 rpm.

linear

at sinusoidal² commutation: 4 m/s

at trapezoidal commutation: 6.25 m/s

All the data on resolution, step size, positioning accuracy etc. refer to calculatory values.

Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account.

If the final limit speed of the motor has to be altered, then all the parameters that were previously

entered for position control and motion blocks must be adapted.

PROFIBUS for S300/S400/S600/S700 9

Kollmorgen 04/2017 Installation / Setup

2.1.2 Inserting the expansion card (S300, S600 and S700)

The expansion card for S300/S700 is different from the card for S600.

The text "PROFIBUS DP" on the front label marks the card for S300/S700, the text "PROFIBUS"

the card for S600.

To fit the PROFIBUS expansion card into the servo amplifier, proceed as follows:

Remove the cover of the option slot (see installation manual of the servo amplifier.)

Take care that no small items (such as screws) fall into the open option slot.

Push the expansion card carefully into the guide rails that are provided, without twisting it.

Press the expansion card firmly into the slot, until the front cover touches the fixing lugs. This

ensures that the connectors make good contact.

Use the screws on the expansion card to secure it in the drive.

2.1.2.1 Front view

Shown is the expansion card for S300/S700.

2.1.2.2 Setup of Station Address and Baud Rate

During setup it makes sense to use the keypad on the front panel to preset the station addresses

for the individual amplifiers (see chapter "Setup" in the instructions manual).

After changing the station address you must turn the 24V auxiliary supply for the servo amplifier off

and on again for the new address to take affect.

Possible ways for setup:

keypad on the front panel of the servo amplifier (see instructions manual)

setup software: screen page “CAN / Fieldbus” (see online help)

serial interface with a sequence of ASCII commands:

ADDR nn Þ SAVE Þ COLDSTART (with nn = address)

The Baudrate is defined by the hardware configuration in the master controller. Baudrates up to 12

MBaud are possible. During bus initialization, the master controller sends the amplifier the desired

baud rate.

2.1.2.3 Connection technology

Cable selection, cable routing, shielding, bus connector, bus termination and transmission times are

all described in the “Installation guidelines for PROFIBUS-DP/” from PNO, the PROFIBUS User

Organization.

10 PROFIBUS for S300/S400/S600/S700

Installation / Setup 04/2017 Kollmorgen

2.1.2.4 Connection diagram

With S600 terminals AGND and DGND (connector X3) must be joined together !

PROFIBUS for S300/S400/S600/S700 11

Kollmorgen 04/2017 Installation / Setup

PROFIBUS

X12A

X12B

+5V

RS485-A

+5V

RS485-B

GND1

390Ù

220Ù

390Ù

220Ù

390Ù

Servo amplifier

2.1.3 Profibus master module setup

2.1.3.1 Configuration of the master controller ( e.g. Siemens S7)

The graphics interface makes it very easy to configure the Siemens S7 for the PROFIBUS network.

After you have set up the control layout, configure the interface module that is used as follows: Use

our library file KOLL045D.GSD to configure the Profibus master for the servo amplifier. The follow

ing shows a Siemens PLC. Other machine controllers can also be configured for the Kollmorgen

Profibus expansion card. Open the Hardware catalog and drag the symbol for the corresponding

field unit onto the representation of the bus system. A window opens auto- matically for the general

parameterization of the field unit (please observe: the S300/S700 are displayed here like a S600).

Enter the address of the participant here.

Next, use the same method as above to drag the module from the Hardware catalog into the box for

the field unit, whereby the 4-word module must lie in Cell 0 and the 6-word module in Cell 1.

Another window opens, in which you can set the parameters for the module.

12 PROFIBUS for S300/S400/S600/S700

Installation / Setup 04/2017 Kollmorgen

2.1.4 Standard function block for date exchange with the servo amplifier

Kollmorgen supplies a S7-function block (FB10) for use Siemens PLC that make it possible to han

dle the servo amplifier control functions very simply.

This function block and its description can be found as a text file on the CDROM and in the down

load section of our website.

2.2 Amplifier setup

2.2.1 Guide to setup

Only properly qualified personnel with professional expertise in control and drive technology are

permitted to setup the servo amplifier.

Check assembly

+ installation

Check that all the safety instructions, which are included in both the

instructions manual for the servo amplifier and in this manual, have

been observed and implemented.

Connect PC,

start setup software

Use the setup software for setting the parameters for the servo am

plifier.

CAUTION: Automatic Start!

Risk of death or serious injury for humans working in the machine. The drive performing un-

planned movements during commissioning cannot be ruled out. Make sure that, even if the drive

starts to move unintentionally, no danger can result for personnel or machinery. The measures

you must take in this regard for your task are based on the risk assessment of the application.

Setup the

basic functions

Now setup the basic functions of the servo amplifier including tuning

the servo loops. This part of setup is described in the online help

system of the setup software.

Save

parameters

When the optimization is finished, save the controller parameters in

the servo amplifier.

Test the

bus connection

Remove the Enable signal (Terminal X3) and switch off the mains

power supply for the servo amplifier.

The 24V DC auxiliary voltage remains switched on.

Test the installation of the PROFIBUS connection and the interface

to the PROFIBUS master.

Check the PROFIBUS-DP parameter settings and the station con

figuration.

Check the parameter settings for the PROFIBUS interface module.

Check the PLC user program and the parameter settings for the

function block.

PROFIBUS for S300/S400/S600/S700 13

Kollmorgen 04/2017 Installation / Setup

2.2.2 Important amplifier configuration parameters

The following parameters configure the amplifier for the Profibus interface. They can be set using

the setup software for the amplifier.

EXTWD (PNU 1658)

With this parameter, the observation time (watch dog) for the fieldbus-slot communication can be

set. The observation is only active, if a value higher than 0 is assigned to EXTWD (EXTWD=0,

observation switched off) and the output stage is enabled. If the set time runs out, without the

watchdog-timer being newly triggered by the arrival of a telegram, then the warning n04 (response

monitoring) is generated and the drive is stopped. The amplifier remains ready for operation and the

output stage enabled. Before a new driving command (setpoint) is accepted, this warning must be

deleted (function CLRFAULT or INxMODE=14).

ADDR (PNU 918)

With this command, the node address of the amplifier is set. When the address has been changed,

all parameters should be saved to the EEPROM and the amplifier switched off and on again.

Since the modular structure of the S400 as a multi-axis system requires its own addressing, there is

the additional parameter ADDRFB (PNU 2012) for this series, with which a field bus address differ

ent from the internal device address (ADDR) can be defined. As long as ADDRFB = 0, ADDR is

the bus address. If ADDRFB > 0, then ADDRFB is the bus address. ADDR is set automatically by

the S400 master module in descending order.

AENA (PNU 1606)

With this parameter, the state of the software-enable after switch-on can be defined. The soft-

ware-enable allows an external control to enable/disable the output stage. For amplifiers with ana-

log setpoints (OPMODE=1,3) the software-enable is set automatically after switch-on and the

devices are ready for operation immediately (if hardware-enable is present). For all others, soft-

ware-enable will be set to the value of AENA. The variable AENA also has functionality when reset-

ting the amplifier after an error (by digital input 1 or the CLRFAULT command). If an error can be

reset by the software, the software-enable is set to the value of AENA after the error is cleared. In

this way the behavior of the amplifier after a software-reset is similar to after the drive is switched

on.

INPT, INPT0 (PNU 1904)

With INPT (S300/S700: INPT0) a delay for the in-position message can be set. With the start of a

motion task the in-position message is deleted and the monitoring of the position is activated after

expiration of the adjusted time. This function is particularly important for positioning procedures

within the in-position window. In this case the in-position message is delayed for a defined time.

14 PROFIBUS for S300/S400/S600/S700

Installation / Setup 04/2017 Kollmorgen

2.2.3 Setup Software

2.2.3.1 Screen page PROFIBUS

This screen will only appear, if the PROFIBUS hardware is built into the servo amplifier. The screen

page displays the PROFIBUS-specific parameters, the bus status, and the data words in the trans

mit and receive directions, as seen by the bus-master. This page is helpful when searching for

errors and commissioning the bus communication. The picture below shows the S300/S700 screen.

Baudrate: The baud rate set by the PROFIBUS master.

PNO Identno.: The PNO identification is the number for the servo amplifier from the list

of ID-numbers set by the PROFIBUS user organization.

Address: Station address of the amplifier (setting see p.10).

PPO type: servo amplifier only supports PPO-type 2 of the PROFIDRIVE profile.

PROFIBUS Interface states:

Shows the present status of the bus communication. Data can only be

transferred across the PROFIBUS when the “Communication OK”

message is black (not shown in gray).

Input: The last PROFIBUS object received by the master.

Output: The last PROFIBUS object sent by the master.

The data for input/output are only transferred, if the threshold monitoring for the servo amplifier has

been activated in the master’s hardware configuration.

PROFIBUS for S300/S400/S600/S700 15

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2.2.3.2 Screen page PROFIBUS instrument control

On this screen page the individual bits of the control word (STW) and the status word (ZSW) are

shown. The device status resulting from the status word is visualized in the status machine. The

current status is shown as black, all others are grey. Additionally the previous status is shown by

emphasizing the number of the appropriate arrow. The picture below shows the S300/S700 screen.

16 PROFIBUS for S300/S400/S600/S700

Installation / Setup 04/2017 Kollmorgen

3 Device Profile

The PROFIBUS profile PROFIDRIVE includes the following parameter process-data objects (PPO):

The servo amplifier only uses the PPO-type 2 (with 4 words PKW-section and 6 words PZD-sec-

tion). The PKW-section is used mainly for the transmission of parameters for the servo amplifier,

the PZD-section is used principally for handling motion functions.

The telegram can be divided into two sections or data channels:

1. PKW-section (4 words, Bytes 1 to 8)

2. PZD-section (6 words, Bytes 8 to 20)

The PKW data channel can also be termed the service or parameter channel. The service channel

only uses confirmed communication services, and is used by the servo amplifier as a parameter

channel.

The PKW channel has no real-time capability.

The PZD data channel can also be termed the process data channel. The process data channel

uses unconfirmed communication services. The response of the servo amplifier to an unconfirmed

service can only be seen in the reaction of the amplifier (status word, actual values).

The PZD channel has real-time capability.

PROFIBUS for S300/S400/S600/S700 17

Kollmorgen 04/2017 Device Profile

PKW

PKE IND PWE

PZD

STW

ZSW

HSW

HIW

PZD1 PZD2 PZD3 PZD4

Typ 1 : Octet-String 12

Typ 2 : Octet-String 20

Typ 3 : Octet-String 4

Typ 4 : Octet-String 12

PKW:

PKE:

IND:

PWE:

PZD:

STW:

ZSW:

HSW:

HIW:

12 3 45 678910

12 13 14 15 16 17 18 19 20

BYTE

Typ 5 : Octet-String 28

PZD6 PZD7PZD5 PZD8

21 2322 24 272625 28

PZD9 PZD10

4th octet reserved

Abbreviations

Parameter ID value

Parameter ID (1st and 2nd octet)

Index with PPO (3rd octet)

Parameter value (5th to 8th octet)

Control word

Status word

Main setpoint

Main actaul value

Process data

3.1 Parameter channel

3.1.1 Parameter ID (PKE)

Marked lines in the table are valid for the servo amplifier

Master —> Slave Slave —> Master

Task ID

Function

Response ID positive Response ID negative

0 no task 0 0

1 request parameter value 1,2 7

2 alter parameter value [W] 1 7/8

3 alter parameter value [DW] 2 7/8

4 request description element 3 7

5 alter description element 3 7/8

6 request parameter value [A] 4,5 7

7 alter parameter value [A/W] 4 7/8

8 alter parameter value 5 7/8

9 request number of array elements 6 7

10 - 15 reserved

3.1.1.1 Interpretation of the response IDs

Marked lines in the table are valid for the servo amplifier

Response ID Interpretation

0 no task

1 transmit parameter value

2 transmit parameter value

3 transmit description element

4 transmit parameter value

5 transmit parameter value

6 transmit number of array elements

7 task not possible (with error no.)

8 no operating authority for PKW interface

9 spontaneous message [W]

10 spontaneous message [DW]

11 spontaneous message [A/W]

12 spontaneous message [A/DW]

Abbreviatoins in the tables:

A: Array

W: Word

DW: Double-word

18 PROFIBUS for S300/S400/S600/S700

Device Profile 04/2017 Kollmorgen

12345

BIT

867910121315 14

BYTE 1 BYTE 2

SPM

PNU

SPM

PNU

Abbreviations

(not implemented at present)

task / response ID

Parameter number

3.1.1.2 Response ID 7: Profile specific error numbers

Error no. Description

illegal PNU

parameter value cannot be changed

Lower or upper limit violated

Erroneous sub-index

no array

Incorrect data type

setting not allowed (can only be reset)

Descriptive element cannot be changed

PPO-write, requested in IR, not available

descriptive data not available

access group incorrect

No parameter change rights

Password incorrect

Text cannot be read in cyclic data transmission

Name cannot be read in cyclic data transmission

text array not available

PPO-write missing

opmode switch over not possible at STW Bit 10=1(PZDenable)

other error

19-100

reserved

101

faulty task ID

102

software error (command table)

103

only possible in disabled state

104

only possible in enabled state

105

BCC-error in the EEPROM data

106

only possible after task is stopped

107

wrong value [16,20]

108

wrong parameter (OCOPY x [- y] z)

109

wrong motion block no. (0,1..180,192..255)

110

wrong parameter (PTEACH x [y])

111

EEPROM write error

112

wrong value

113

BCC-error in motion block

114

Object is read only or write only

115

not possible due to operation status (e.g. output stage enabled)

>115

reserve

3.1.2 Index IND

An Index (IND) unequal to 0 is used for reading and writing amplifier parameters with

PNUs > 1600. See page 33 for further description.

PROFIBUS for S300/S400/S600/S700 19

Kollmorgen 04/2017 Device Profile

15 14 1213

BYTE 3

5810 9 7 6BIT 4 3

BYTE 4

210

IND reserved

3.1.3 Parameter value PWE

The data for the PNU-variable is contained in the PWE, and is placed flush right (PKE):

4-byte data (double-word) PWE 5-8 (PWE 8 LSB)

Commands are transferred right justified with task ID 3. If a command cannot be executed, the

response identification AK = 7 signals the error, and an error number is given out. The error num

bers are described on page 19.

3.2 The process data channel (PZD)

Cyclical data are exchanged across the PROFIBUS through the process data section of the 20-byte

telegram. Each PROFIBUS cycle triggers an interrupt in the servo amplifier and new process data is

exchanged and processed. The interpretation of the PZD by the amplifier depends on the operating

mode that is set. The operating mode is set through a PROFIBUS parameter (PNU 930,

ð p. 25).

In all operating modes, data word 1 of the process data (PZD1) in the direction from control system

to servo amplifier is used for instrument control, and in the direction from servo amplifier to control

system it has the function of a status indicator for the amplifier.

The interpretation of the process data PZD2 – PZD6 changes depending on the operating mode, as

can be seen in Chapter 5.2.

When the servo amplifier is switched on, the PROFIDRIVE operating mode that is always set to

–126 (safe state). Before changing the operating mode, bit 10 of the control word STW must

always be set to 0. The new operating mode only becomes active when bit 10 of the control word is

set to 1 (see p. 25).

20 PROFIBUS for S300/S400/S600/S700

Device Profile 04/2017 Kollmorgen

15 14 1213

BYTE 7

5810 9 7 6 4 3

BYTE 8

21081415

BYTE 5

13 12 10 9

BYTE 6

BIT

643210

LSBMSB

LSWMSW

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Kollmorgen S400 Original Manual

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Model: S400

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